Display post titles on page from RSS feed

Hi All

Is there a way we can use our rss feed to disply the blog post titles and link on our home page.

We had this coed forma very noce person here which takes the data from my sql, it wols very wll by the way but is uses the ?p= format for the url and we have urls in the format: http://www.cheaperholidays.com/late-deals/2006/01/24/travel-guides-update/ using htaccess

<?php
$SQL = “SELECT ID, post_title FROM wp_posts ORDER BY post_date DESC LIMIT 6”;
$rs = mysql_query($SQL);
echo ”

“;
while ($row = mysql_fetch_object($rs)){
echo “ID}’>{$row->post_title}“;
}
echo “

“;
mysql_free_result($rs);
?>

Thanks in Advance